According to the United States Census Bureau, the town has a total area of 41.9 square miles (109 km2), of which, 37.2 square miles (96 km2) of it is land and 4.6 square miles (12 km2) of it (11.08%) is water.

The lowest point in the town is the shore of the Hudson River, which is at sea level. The highest point is the summit of Hussey Hill, at 906 feet (276 m).[1] Hussey Hill is part of the Marlboro Mountains, which run roughly north to south through the central and eastern sections of Esopus.

Esopus also has three lakes; Esopus Lake and Mirror Lake, which are in Ulster Park, and Louisa Pond, which is located to the west of the village of Esopus. Louisa Pond is located in Shaupeneak Ridge Cooperative Recreation Area.

As of the 2000 census[2] there were 9,331 people, 3,439 households and 2,235 families residing in the town. The population density was 250.5 people per square mile (96.7/km²). There were 3,724 housing units at an average density of 100.0 per square mile (38.6/km²). The racial makeup of the town was 94.57% White; 2.18% African American; 0.24% Native American; 0.94% Asian; 0.49% from other races; and 1.59% from two or more races. Hispanic or Latino of any race were 1.91% of the population.

There were 3,439 households out of which 29.5% had children under the age of 18 living with them; 51.7% were married couples living together; 8.8% had a female householder with no husband present; and 35.0% were non-families. 27.6% of all households were made up of individuals and 8.6% had someone living alone who was 65 years of age or older. The average household size was 2.45 and the average family size was 3.01.

The population in town was spread out with 25.4% under the age of 18; 6.9% from 18 to 24; 29.3% from 25 to 44; 25.9% from 45 to 64; and 12.6% who were 65 years of age or older. The median age was 39 years. For every 100 females there were 93.7 males. For every 100 females age 18 and over, there were 91.0 males.

The median income for a household in the town was $46,915, and the median income for a family was $55,442. Males had a median income of $38,016 versus $31,010 for females. The per capita income for the town was $21,174. About 4.6% of families and, and 18.5% of those age 65 or over.